version: 66.03
glider: 120
mission: 9
dive: 502
start: 3 5 109 19 15 53
data:
$ID,120
$MISSION,9
$DIVE,502
$D_SURF,7
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,660
$T_MISSION,675
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51365
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0054608998
$HD_B,0.011315
$HD_C,8.0300997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28550.246
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3317
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,176
$ROLL_MAX,3861
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2876
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-16.122175
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043782545
$SEABIRD_T_H,0.00063376746
$SEABIRD_T_I,2.0789576e-05
$SEABIRD_T_J,1.6847914e-06
$SEABIRD_C_G,-10.138739
$SEABIRD_C_H,1.1328104
$SEABIRD_C_I,-0.00035406757
$SEABIRD_C_J,0.00012259149
$GPS1,190907,5010.909,-14454.203,66,1.1,66,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-77.7
$GPS2,191456,5010.926,-14454.231,15,1.2,15,18.5
$SPEED_LIMITS,0.087,0.178
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.120,0.132
$KALMAN_X,-28943.2,134.4,235.1,52653.1,-1398.0
$KALMAN_Y,88541.3,-7.9,-108.0,-74640.1,224.8
$MHEAD_RNG_PITCHd_Wd,299.3,28050,-12.0,-5.000
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.67,-117.3,0.0,0.0,0,38,0.00,0.00,-11.15,0.000,2,0.000,0.000,136,2410,2029
$GC,42,-0.67,-117.3,3.7,-0.0,1,118,14.05,2.47,-51.40,0.000,4,0.281,0.081,3094,989,3356
$GC,226,-0.52,-117.3,17.5,-10.5,17,233,0.20,2.33,0.00,0.000,6,0.160,0.064,3149,2397,3357
$GC,555,-0.52,-117.3,42.1,-7.6,48,560,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3358
$GC,880,-0.52,-117.3,67.8,-8.3,79,882,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2397,3358
$GC,1205,-0.52,-117.3,94.0,-8.4,102,1209,0.00,2.38,0.00,0.000,4,0.000,0.070,3150,984,3358
$GC,1239,-0.52,-117.3,97.1,-8.5,103,1245,0.00,2.33,0.00,0.000,6,0.000,0.062,3150,2401,3358
$GC,1555,-0.57,-117.3,122.3,-7.6,119,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2400,3358
$GC,1865,-0.64,-117.3,141.8,-5.9,134,1870,0.12,2.40,0.00,0.000,4,0.080,0.079,3099,3816,3358
$GC,1888,-0.64,-117.3,143.5,-7.1,135,1892,0.00,2.28,0.00,0.000,6,0.000,0.053,3099,2396,3358
$GC,2228,-0.64,-117.3,168.1,-7.3,148,2232,0.00,2.35,0.00,0.000,4,0.000,0.069,3099,989,3358
$GC,2317,-0.64,-117.3,174.8,-7.9,150,2324,0.00,2.33,0.00,0.000,6,0.000,0.061,3099,2413,3358
$GC,2631,-0.64,-117.3,197.8,-7.5,161,2635,0.00,2.35,0.00,0.000,4,0.000,0.081,3099,3817,3358
$GC,2681,-0.64,-117.3,201.8,-7.7,162,2685,0.00,2.28,0.00,0.000,6,0.000,0.054,3099,2389,3358
$GC,3000,-0.64,-117.3,225.3,-7.1,173,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2389,3358
$GC,3306,-0.64,-117.3,245.6,-6.7,183,3310,0.00,2.30,0.00,0.000,4,0.000,0.070,3098,995,3358
$GC,3357,-0.64,-117.3,249.1,-6.9,184,3361,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2403,3358
$GC,3675,-0.64,-117.3,270.7,-6.8,195,3679,0.00,2.33,0.00,0.000,4,0.000,0.069,3099,994,3359
$GC,3703,-0.64,-117.3,272.6,-7.1,195,3710,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2404,3358
$GC,4017,-0.64,-117.3,292.8,-6.4,206,4021,0.00,2.35,0.00,0.000,4,0.000,0.069,3099,991,3358
$GC,4044,-0.64,-117.3,294.8,-6.6,206,4051,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2399,3358
$GC,4386,-0.64,-117.3,317.5,-6.7,214,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2399,3358
$GC,4689,-0.64,-117.3,338.1,-6.8,219,4693,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,988,3357
$GC,4729,-0.64,-117.3,341.0,-7.2,219,4733,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2403,3358
$GC,5050,-0.64,-117.3,362.9,-6.8,225,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2403,3358
$GC,5353,-0.64,-117.3,383.3,-6.7,230,5357,0.00,2.35,0.00,0.000,4,0.000,0.070,3099,993,3358
$GC,5386,-0.64,-117.3,385.6,-6.7,230,5390,0.00,2.30,0.00,0.000,6,0.000,0.061,3099,2401,3358
$GC,5713,-0.64,-117.3,407.4,-6.7,236,5717,0.00,2.38,0.00,0.000,4,0.000,0.081,3099,3816,3358
$GC,5741,-0.64,-117.3,409.5,-7.2,236,5745,0.00,2.25,0.00,0.000,6,0.000,0.054,3099,2400,3358
$GC,6073,-0.64,-117.3,430.0,-6.1,242,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2401,3358
$GC,6376,-0.64,-117.3,448.7,-6.2,247,6380,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,995,3358
$GC,6405,-0.69,-117.3,450.6,-6.7,247,6409,0.00,2.33,0.00,0.000,6,0.000,0.062,3099,2410,3358
$GC,6738,-0.69,-117.3,472.2,-6.5,253,6742,0.00,2.38,0.00,0.000,4,0.000,0.082,3099,3818,3358
$GC,6777,-0.73,-117.3,474.8,-6.7,253,6781,0.00,2.28,0.00,0.000,6,0.000,0.055,3099,2393,3358
$GC,7098,-0.73,-117.3,493.0,-5.6,259,7102,0.00,2.33,0.00,0.000,4,0.000,0.071,3099,989,3357
$GC,7132,-0.79,-117.3,494.9,-5.8,259,7137,0.12,2.33,0.00,0.000,6,0.091,0.061,3053,2404,3358
$GC,7459,-0.73,-117.3,516.0,-6.4,265,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2403,3357
$GC,7762,-0.67,-117.3,535.3,-6.4,270,7764,0.15,0.00,0.00,0.000,6,0.110,0.000,3097,2403,3357
$GC,8066,-0.67,-117.3,552.6,-5.7,275,8070,0.00,2.35,0.00,0.000,4,0.000,0.071,3098,995,3357
$GC,8110,-0.67,-117.3,555.6,-6.7,275,8114,0.00,2.33,0.00,0.000,6,0.000,0.064,3098,2406,3357
$GC,8426,-0.67,-117.3,575.3,-6.3,281,8430,0.00,2.38,0.00,0.000,4,0.000,0.071,3098,991,3357
$GC,8460,-0.67,-117.3,577.6,-7.0,281,8464,0.00,2.33,0.00,0.000,6,0.000,0.064,3097,2406,3357
$GC,8793,-0.67,-117.3,599.8,-6.8,287,8797,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,985,3357
$GC,8821,-0.67,-117.3,602.0,-7.5,287,8825,0.00,2.35,0.00,0.000,6,0.000,0.063,3098,2411,3357
$GC,9159,-0.67,-117.3,625.6,-7.0,293,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2411,3357
$GC,9462,-0.67,-117.3,647.1,-7.0,298,9466,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,995,3356
$GC,9513,-0.73,-117.3,650.7,-7.7,298,9517,0.00,2.33,0.00,0.000,6,0.000,0.063,3097,2404,3356
$GC,9823,-0.73,-117.3,671.6,-6.7,303,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2404,3356
$GC,10126,-0.73,-117.3,690.4,-6.1,308,10130,0.00,2.40,0.00,0.000,4,0.000,0.071,3098,989,3356
$GC,10171,-0.77,-117.3,693.1,-5.9,308,10175,0.00,2.35,0.00,0.000,6,0.000,0.064,3098,2408,3356
$GC,10487,-0.96,-117.3,712.8,-6.4,314,10492,0.22,2.38,0.00,0.000,4,0.085,0.081,3009,3809,3356
$GC,10746,-0.75,-117.3,735.3,-9.2,317,10753,0.25,2.28,0.00,0.000,6,0.153,0.057,3076,2398,3356
$GC,11056,-0.75,-117.3,755.7,-6.4,323,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2398,3356
$GC,11359,-0.75,-117.3,775.4,-6.5,328,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2398,3356
$GC,11662,-0.75,-117.3,794.9,-6.5,333,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2398,3356
$GC,11965,-0.75,-117.3,814.0,-6.3,338,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2397,3356
$GC,12269,-0.75,-117.3,832.8,-6.2,343,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2398,3356
$GC,12572,-0.75,-117.3,852.5,-6.5,348,12576,0.00,2.40,0.00,0.000,4,0.000,0.074,3076,992,3355
$GC,12599,-0.75,-117.3,854.3,-7.0,348,12603,0.00,2.35,0.00,0.000,6,0.000,0.064,3073,2410,3355
$GC,12938,-0.75,-117.3,875.1,-6.1,354,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2410,3355
$GC,13241,-0.75,-117.3,893.7,-6.1,359,13245,0.00,2.42,0.00,0.000,4,0.000,0.073,3073,996,3354
$GC,13269,-0.75,-117.3,895.5,-6.9,359,13273,0.00,2.35,0.00,0.000,6,0.000,0.065,3072,2408,3355
$GC,13601,-0.75,-117.3,915.9,-6.2,365,13605,0.00,2.42,0.00,0.000,4,0.000,0.073,3073,993,3355
$GC,13634,-0.75,-117.3,918.1,-6.5,365,13638,0.00,2.35,0.00,0.000,6,0.000,0.064,3073,2408,3355
$GC,13961,-0.75,-117.3,938.1,-6.1,371,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2408,3355
$GC,14263,-0.75,-117.3,956.4,-6.0,376,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2408,3355
$GC,14567,-0.75,-117.3,974.5,-6.0,381,14571,0.00,2.42,0.00,0.000,4,0.000,0.085,3073,3819,3355
$GC,14602,-0.75,-117.3,976.6,-6.0,381,14606,0.00,2.33,0.00,0.000,6,0.000,0.058,3072,2393,3354
$STATE,14864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14864,begin apogee
$GC,14873,-0.22,0.0,992.1,5.8,386,14987,0.57,0.00,109.20,1.484,6,0.137,0.000,3246,2197,2875
$STATE,14988,end apogee,CONTROL_FINISHED_OK
$STATE,14988,begin climb
$GC,14991,0.67,117.3,996.7,0.0,388,15115,0.90,2.75,115.50,1.429,4,0.090,0.075,3546,792,2397
$GC,15133,0.31,131.7,997.4,4.6,390,15154,0.50,2.55,15.38,1.301,6,0.177,0.061,3423,2206,2339
$GC,15471,0.33,152.3,982.2,4.4,396,15493,0.00,0.00,19.75,1.374,6,0.000,0.000,3423,2206,2255
$GC,15774,0.34,157.3,967.5,4.9,401,15787,0.00,2.42,6.47,1.151,4,0.000,0.081,3423,3620,2233
$GC,15857,0.30,157.3,962.8,5.6,402,15861,0.00,2.33,0.00,0.000,6,0.000,0.064,3423,2197,2233
$GC,16206,0.30,157.3,944.5,5.2,408,16207,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2197,2232
$GC,16509,0.30,157.3,928.4,5.3,413,16513,0.00,2.40,0.00,0.000,4,0.000,0.081,3423,3618,2232
$GC,16560,0.30,157.3,925.3,5.2,413,16564,0.00,2.33,0.00,0.000,6,0.000,0.063,3423,2193,2232
$GC,16871,0.34,157.3,909.5,5.0,418,16875,0.00,2.40,0.00,0.000,4,0.000,0.078,3423,791,2232
$GC,16916,0.39,157.3,907.1,5.7,418,16920,0.00,2.30,0.00,0.000,6,0.000,0.062,3423,2205,2232
$GC,17243,0.43,157.3,890.0,5.2,424,17244,0.10,0.00,0.00,0.000,6,0.090,0.000,3464,2205,2232
$GC,17547,0.36,157.3,871.3,6.2,429,17549,0.12,0.00,0.00,0.000,6,0.141,0.000,3431,2205,2231
$GC,17848,0.36,157.3,855.2,5.3,434,17850,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2205,2231
$GC,18151,0.36,157.3,839.7,5.1,439,18153,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2205,2231
$GC,18455,0.36,157.3,824.6,5.0,444,18459,0.00,2.35,0.00,0.000,4,0.000,0.081,3430,3610,2231
$GC,18500,0.30,157.3,822.0,5.5,444,18504,0.00,2.30,0.00,0.000,6,0.000,0.063,3436,2198,2231
$GC,18815,0.30,157.3,804.6,5.5,450,18817,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2198,2231
$GC,19118,0.30,157.3,788.1,5.4,455,19122,0.00,2.42,0.00,0.000,4,0.000,0.078,3435,790,2231
$GC,19169,0.30,159.9,785.2,4.9,455,19173,0.00,2.33,0.00,0.000,6,0.000,0.061,3436,2211,2230
$GC,19480,0.30,159.9,769.1,5.2,460,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2211,2231
$GC,19782,0.30,159.9,752.2,5.6,465,19786,0.00,2.38,0.00,0.000,4,0.000,0.081,3436,3613,2231
$GC,19821,0.24,159.9,749.7,5.7,465,19826,0.15,2.35,0.00,0.000,6,0.172,0.062,3399,2190,2231
$GC,20142,0.36,163.9,733.7,4.9,471,20152,0.10,0.00,7.15,1.133,6,0.091,0.000,3437,2191,2207
$GC,20446,0.43,163.9,717.1,5.5,476,20450,0.00,2.42,0.00,0.000,4,0.000,0.078,3437,788,2207
$GC,20481,0.49,163.9,715.0,6.7,476,20486,0.12,2.33,0.00,0.000,6,0.093,0.063,3492,2205,2206
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$STATE,32560,end climb,SURFACE_DEPTH_REACHED
$STATE,32560,begin surface coast
$FINISH,2.4,1.015311
$STATE,32654,end surface coast,CONTROL_FINISHED_OK
$STATE,32654,begin surface
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$10V_AH,10.4,67.563
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$DEVICE_SECS,29.525,245.725,386.925,0.000,0.000,22.771,24.885,155.225,256.750,0.000,0.000,15.254,1837.659,27410.031,590.936,2475.526,764.250,33.381,1816.229,0.000,2438.152,0.000,0.466
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$DATA_FILE_SIZE,47500,840
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$CFSIZE,260165632,219652096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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